modelec/TCPSocketServer
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transit mode

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ackimixs
2024-04-17 20:26:31 +02:00
parent 737c4ef458
commit acc12af99f
1 changed files with 1 additions and 1 deletions
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TCPServer.cpp
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@@ -1232,7 +1232,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double robotPosForPotX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;transit;" + std::to_string(static_cast<int>(robotPosForPotX)) + "," + std::to_string(static_cast<int>(robotPosForPotY)) + ",110\n";
toSend = "strat;arduino;transit;" + std::to_string(static_cast<int>(robotPosForPotX)) + "," + std::to_string(static_cast<int>(robotPosForPotY)) + ",130\n";
this->broadcastMessage(toSend);
awaitRobotIdle();